US12258013B2 - Method and device for partitioning a widened area of a traffic lane bounded by two edges - Google Patents

Method and device for partitioning a widened area of a traffic lane bounded by two edges Download PDF

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Publication number
US12258013B2
US12258013B2 US18/022,731 US202118022731A US12258013B2 US 12258013 B2 US12258013 B2 US 12258013B2 US 202118022731 A US202118022731 A US 202118022731A US 12258013 B2 US12258013 B2 US 12258013B2
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Prior art keywords
vehicle
area
traffic lane
widened area
sub
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US18/022,731
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US20230311868A1 (en
Inventor
Matthieu Varnier
David Giraud
Zoubida Lahlou
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PSA Automobiles SA
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PSA Automobiles SA
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B60W2510/202—Steering torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/20—Direction indicator values
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/406—Traffic density
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way

Definitions

  • edges may be markings on the ground, sometimes called border lines. Also, the edges are recognizable, for example, using image processing that identifies a change of material, color and/or texture of the ground.
  • the longitudinal demarcation of a traffic lane is bounded by a distance between two points, between two transverse axes, a distance between the beginning and the end of the lane.
  • An area, region, or portion of a traffic lane is represented by the surface of the traffic lane bounded laterally and longitudinally.
  • a traffic lane may at a given location split into two or more lanes. This multiplication of the lanes can allow a vehicle, traveling in said traffic lane, to pass another vehicle in front of it or to position itself on the most suitable side relative to the traffic or relative to the trajectory desired by the driver of the vehicle.
  • the widened area of a traffic lane is bounded longitudinally by the region where the width of the lane increases. It begins where the width of the lane begins to increase, therefore after an initial lane, and it ends where a marking indicates the splitting of the lanes created by the widening of the initial lane.
  • Vehicles in particular automobiles, travel in these lanes.
  • Certain vehicles operated by a driver, are able to be driven in an automated manner along a reference path. They comprise a lateral positioning aid device with respect to the lateral borders of the traffic lane taken.
  • This device comprises means capable of perceiving the environment (camera, RADAR, LIDAR and other rangefinders) and in particular the edge of the lane over a given horizon or a given distance.
  • these said vehicles are able to detect the beginning of a widened area by monitoring the lateral distance between the two edges of the lane. Due to the limit of perception of the environment over a given distance by the members capable of environmental perception, determining the end of the widened area as soon as the start of said widened area is detected is not possible if the marking, which marks the splitting of the lanes created by the widening of the initial lane, is not detected by said members. It is known that the determination of the end of the widened area is carried out during the travel of said vehicle in the widened area, for example until a new marking is detected which marks the splitting of the lanes created by the widening of the initial lane.
  • Certain lateral positioning aid devices take as a reference path the median to the edges of the traffic lane. When this occurs, the vehicle will be incorrectly positioned at the end of the traffic lane widened area. It will be placed between the two new lanes, therefore at the splitting marking which will be created between these two lanes. The driver will have to resume manual operation and perform a late lateral movement with a risk of colliding with another passing vehicle.
  • lateral positioning aid devices take as a reference path a fixed distance relative to one edge of the traffic lane.
  • the selected trajectory may not be the trajectory desired by the driver.
  • the choice of the final traffic lane by the lateral positioning aid device, at the end of the widening and the splitting into at least two lanes, will be seen as arbitrary from the point of view of the driver. If appropriate, he will then have to suspend the assistance in the widened area in order to resume driving manually, then reactivate the assistance after the end of the widened area.
  • said devices do not make it possible to take into account several reference paths in the widened area.
  • a vehicle driven in an automated manner may have speed regulated relative to a set speed.
  • the vehicle In the upstream area of the widened area, the vehicle may be regulated at a speed lower than the set speed due to detection of a vehicle in front and traveling more slowly. The arrival in a widened area then allows a slower vehicle to be passed.
  • the method may choose the reference path enabling the preceding vehicle to be passed in a relaxed (smooth transition) and safe manner.
  • the reference path to reach the ego-lane 209 is a function of the edge closest to the ego-lane.
  • the reference path to reach the ego-lane 209 is a fixed distance, for example the half-width of the initial lane, relative to the right-hand lane in the event of right-hand traffic and the left-hand lane in the event of a left-hand traffic. In this case, it is not necessary to recognize and/or identify the advance of the end of the widened area.
  • This reference path is determined as far as the edges of the traffic lane are detected.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
US18/022,731 2020-09-10 2021-07-26 Method and device for partitioning a widened area of a traffic lane bounded by two edges Active 2042-01-28 US12258013B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR2009153A FR3113879A1 (fr) 2020-09-10 2020-09-10 Procédé et dispositif de partitionnement d’une zone d’élargissement d’une voie de circulation délimitée par deux bords.
FR2009153 2020-09-10
PCT/FR2021/051391 WO2022053749A1 (fr) 2020-09-10 2021-07-26 Procédé et dispositif de partitionnement d'une zone d'élargissement d'une voie de circulation délimitée par deux bords

Publications (2)

Publication Number Publication Date
US20230311868A1 US20230311868A1 (en) 2023-10-05
US12258013B2 true US12258013B2 (en) 2025-03-25

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ID=74347174

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Application Number Title Priority Date Filing Date
US18/022,731 Active 2042-01-28 US12258013B2 (en) 2020-09-10 2021-07-26 Method and device for partitioning a widened area of a traffic lane bounded by two edges

Country Status (5)

Country Link
US (1) US12258013B2 (fr)
EP (1) EP4211008B1 (fr)
CN (1) CN116323357A (fr)
FR (1) FR3113879A1 (fr)
WO (1) WO2022053749A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11919582B2 (en) * 2022-03-01 2024-03-05 Gm Global Technology Operation Llc Methods, systems, and apparatuses for real-time adaptation of handwheel angle controls for robust automated driving to environmental conditions and model uncertainties
JP7385697B2 (ja) * 2022-03-29 2023-11-22 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム

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FR3069222A1 (fr) 2017-07-18 2019-01-25 Renault S.A.S Procede de fonctionnement d'un systeme d'assistance a la conduite du type assistance au centrage d'un vehicule dans une voie de circulation
US20190176831A1 (en) 2017-12-13 2019-06-13 Hyundai Motor Company Apparatus and method for controlling lane change in vehicle
US10611374B2 (en) * 2016-07-06 2020-04-07 Nissan Motor Co., Ltd. Drive control method and drive control apparatus
US11230291B2 (en) * 2019-02-06 2022-01-25 Toyota Jidosha Kabushiki Kaisha Vehicle control system
US11598648B2 (en) * 2018-07-27 2023-03-07 Bayerische Motoren Werke Aktiengesellschaft Method and system for detecting a lane
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US12007243B2 (en) * 2018-09-30 2024-06-11 Great Wall Motor Company Limited Traffic lane line fitting method and system

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US724324A (en) * 1902-03-11 1903-03-31 Edward Tilden Parsons Hose-coupling.
US20080208460A1 (en) * 2007-02-13 2008-08-28 Aisin Aw Co., Ltd. Lane determining device, method, and program
US20110010021A1 (en) * 2008-03-12 2011-01-13 Honda Motor Co., Ltd. Vehicle travel support device, vehicle, and vehicle travel support program
US9542606B2 (en) * 2014-03-03 2017-01-10 Denso Corporation Lane line recognition apparatus
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US9714034B2 (en) * 2015-03-18 2017-07-25 Toyota Jidosha Kabushiki Kaisha Vehicle control device
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US11926339B2 (en) * 2018-09-30 2024-03-12 Great Wall Motor Company Limited Method for constructing driving coordinate system, and application thereof
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Also Published As

Publication number Publication date
EP4211008A1 (fr) 2023-07-19
EP4211008B1 (fr) 2024-05-22
WO2022053749A1 (fr) 2022-03-17
CN116323357A (zh) 2023-06-23
US20230311868A1 (en) 2023-10-05
FR3113879A1 (fr) 2022-03-11

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